CN101189532B - Distance measuring device - Google Patents
Distance measuring device Download PDFInfo
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- CN101189532B CN101189532B CN200680019988XA CN200680019988A CN101189532B CN 101189532 B CN101189532 B CN 101189532B CN 200680019988X A CN200680019988X A CN 200680019988XA CN 200680019988 A CN200680019988 A CN 200680019988A CN 101189532 B CN101189532 B CN 101189532B
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- 238000001514 detection method Methods 0.000 claims description 30
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- 238000003860 storage Methods 0.000 description 12
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- 238000012545 processing Methods 0.000 description 7
- 101100269674 Mus musculus Alyref2 gene Proteins 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
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- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
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- 230000002452 interceptive effect Effects 0.000 description 2
- 244000287680 Garcinia dulcis Species 0.000 description 1
- 101100537098 Mus musculus Alyref gene Proteins 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
A distance measuring device comprising a light projection unit for irradiating an object of measuring with a distance measuring light (22), a reference reflection unit (55) provided at a known position so as to be able to move relative to and cross the irradiating distance measuring light, a light reception unit (7) for receiving a reflection light from the object of measuring as a reflection distance measuring light (22') and a reflection light from the reference reflection unit as an internal reference light (22''), and a control-computing unit (15) for computing a distance to the object of measuring based on a reception signal relating to the above reflection distance measuring light and a reception signal relating to the above internal reference light.
Description
Technical field
The present invention relates to by Ear Mucosa Treated by He Ne Laser Irradiation determination object thing and detect the Distnace determination device that the reflected light from the determination object thing carries out range determination.
Background technology
As Distnace determination device, useful laser beam irradiation determination object thing is used to measure to the optical range determinator of the distance of determination object thing from the reflected light of measuring object.
In traditional optical range determinator, with certain frequency laser beam is carried out penetrating as range finding light after the intensity modulated, detect the reflection range finding light of determined object reflection, phase place with the modulation of the reflection that detects range finding light intensity, heel distance compares from the phase place of the inner internal reference light intensity modulation that obtains in reference path that forms of determinator, according to the distance of measuring difference of phases to the determination object thing.
In the range determination that above-mentioned Distnace determination device carries out, the fact of having utilized above-mentioned phase differential to change along with the range finding distance, if represent internal reference light and reflect the phase differential of finding range between the light with Δ φ, D represents the distance of finding range, f represents modulating frequency, C represents the light velocity, and then phase difference φ represents with following formula 1.
Δ φ=4 π fD/C (formula 1)
Thereby the range finding distance D can be obtained by measuring phase difference φ, in addition, because reference path is long known, the mensuration distance that available internal reference Light path correction is obtained, thus obtain correct mensuration distance.
In addition, in range determination, the drift of the testing circuit of Distnace determination device inside etc. can cause error at measurment, but by comparing the phase place of internal reference light and reflection range finding light, the impact of the drifts such as testing circuit is just cancelled out each other, therefore can calculate correct distance.
Then, with reference to the traditional Distnace determination device of Fig. 7 summary description.
The light-emitting components such as laser diode 1 send the laser beam of having been made intensity modulated by light emission drive circuit 12 with preset frequency.This laser is divided into range finding light 3 and internal reference light 4 with half-reflecting mirror 2, the above-mentioned range finding light 3 that sees through above-mentioned half-reflecting mirror 2 (for example is radiated at determination object thing 6 by object lens 5, the reflective mirror of corner cube etc.) on, the reflection range finding light 3 ' that this determination object thing 6 reflects is rear by 7 detections of the photodetectors such as photodiode by above-mentioned object lens 5, half-reflecting mirror 8.
The above-mentioned internal reference light 4 that above-mentioned half-reflecting mirror 2 reflects, above-mentioned half-reflecting mirror 8 reflections by on the light path of above-mentioned reflection range finding light 3 ' are detected by above-mentioned photodetector 7.The light detecting signal of this photodetector 7 is transfused to optical detection circuit 13, and this optical detection circuit 13 is processed from the signal of above-mentioned photodetector 7 inputs for the computing of finding range.
Cross-over connection optical path switcher 9 on the light path of the light path of above-mentioned range finding light 3 and above-mentioned internal reference light 4 in addition, on the light path of above-mentioned reflection range finding light 3 ', arranges light quantity adjuster 11.The light path of 9 pairs of above-mentioned range finding light 3 of above-mentioned optical path switcher and the light path of above-mentioned internal reference light 4, both block one with selecting one, and another is seen through, and alternately detect above-mentioned reflection range finding light 3 ' and above-mentioned internal reference light 4 by above-mentioned photodetector 7.
As mentioned above, owing to using the range finding light 3 after the light intensity modulation, obtain the internal reference light 4 that obtains from this range finding light 3 and reflection range finding light 3 ' phase differential carry out distance operation, this reflection range finding light 3 ' different with the detection light quantity of above-mentioned internal reference light 4 can affect the precision of range determination.Thereby, be provided with above-mentioned light quantity adjuster 11.This light quantity adjuster 11 has concentration continually varying amplitude optical filter, by making the rotation of this amplitude optical filter, with above-mentioned reflection range finding light 3 ' the detection light quantity adjust to certain value.Because above-mentioned light quantity adjuster 11, even the reflection light quantity that the distance of said determination object 6 causes changes, the detection light quantity that also can make the above-mentioned internal reference light 4 that above-mentioned photodetector 7 detects and above-mentioned reflection find range light 3 ' the detection light quantity equate.
The light quantity adjustment that the light path that above-mentioned optical path switcher 9 carries out is switched and above-mentioned light quantity adjuster 11 carries out is by driving circuit 14 controls.
13 pairs of signals from above-mentioned photodetector 7 of above-mentioned optical detection circuit amplify, the signal of A/D conversion etc. is processed, obtain simultaneously the modulating frequency of above-mentioned internal reference light 4 and above-mentioned reflection range finding light 3 ' the processing such as phase differential of modulating frequency, be sent to above-mentioned control algorithm section 15.This control algorithm section 15 calculates to the distance of above-mentioned determination object thing 6 with following formula 1 according to the phase differential of sending here from above-mentioned optical detection circuit 13.
In above-mentioned traditional Distnace determination device, the above-mentioned internal reference light 4 that above-mentioned optical path switcher 9 carries out and above-mentioned reflection range finding light 3 ' between switching be that machinery switches.
Light path is switched and the light quantity adjustment is all mechanically carried out, and is difficult to carry out light path at a high speed and switches and light quantity adjustment at a high speed, therefore can not carry out the high speed range determination.Thereby, although do not have problem when the determination object things such as buildings are carried out range determination, but continuously a plurality of moving bodys (for example, the building machineries such as dozer) being carried out the occasion that range determination etc. requires the high speed range determination with 1 determinator, will meet difficulty.In addition, in the occasion of buildings etc. being carried out three-dimensional measurement with total powerstation etc., must a plurality of points be measured by automatic measurement, require the finding speed high speed.In addition, in the situation that moving body etc. is measured, can produce light path switch speed, the light quantity problem that the translational speed, the range determination that do not catch up with moving body can't carry out etc. of regulating the speed.
Have again, carry out Distnace determination device multidirectional, the multiple spot range determination, the device that has No. 2694647 communique of Japanese patent gazette, 301 No. 3 communiques of Japanese kokai publication hei 4-31 to disclose as making the rotation of range finding light.
In light of this situation, the object of the present invention is to provide a kind of light path switching, light quantity of in Distnace determination device, making to adjust high speed, realize the Distnace determination device of range determination high speed.
Summary of the invention
The present invention is a kind of Distnace determination device, has the light emission part of range finding irradiation on the determination object thing; Can relatively move with the benchmark reflecting part that is in known location of the transversal range finding light that is shone; To also will carry out from the reflected light of said reference reflecting part the optical detection part that light detects as internal reference light as reflection range finding light from the reflected light of said determination object; And according to the light detecting signal and the light detecting signal that relates to above-mentioned internal reference light that relate to above-mentioned reflection range finding light, calculate the control algorithm section of the distance that arrives the determination object thing,
In addition, the present invention is a kind of like this Distnace determination device, is provided with the light quantity adjustment component that the light quantity that makes above-mentioned internal reference light changes in light path the said reference reflecting part is set,
In addition, the present invention is a kind of like this Distnace determination device, and its above-mentioned light quantity adjustment component is the optical filter that concentration gradually changes on range finding light through direction,
In addition, the present invention is a kind of like this Distnace determination device, and its above-mentioned light quantity adjustment component and said reference reflecting part arrange integratedly,
In addition, the present invention is a kind of like this Distnace determination device, its scanning comprises at least the determination object thing of above-mentioned range finding light and measures the zone, the said reference reflecting part is in the sweep limit, above-mentioned range finding light scans the mensuration zone that comprises the determination object thing at least, the said reference reflecting part is positioned at sweep limit, and is configured on the catoptrical position of not interfering from the determination object thing
In addition, the present invention is a kind of like this Distnace determination device, its above-mentioned control algorithm section generates a plurality of internal reference benchmark corresponding with a plurality of detection light quantity intensity according to detecting the light detecting signal that light quantity changes, select the internal reference benchmark corresponding with the light quantity of reflection range finding light, and calculate the distance that arrives the determination object thing according to the light detecting signal of selected above-mentioned internal reference benchmark and reflection range finding light
In addition, the present invention is a kind of like this Distnace determination device, and its variation that detects light quantity is passed through optical filter by range finding light and obtained,
In addition, the present invention is a kind of like this Distnace determination device, its said reference reflecting part is by making the said reference reflecting part support relative to the section of travel mechanism that above-mentioned range finding light moves, and this section of travel mechanism remains on the said reference reflecting part and deviates from movement on the position of measuring direction
In addition, the present invention is a kind of like this Distnace determination device, its section of above-mentioned travel mechanism has the position detecting device of the position of detecting the said reference reflecting part, above-mentioned control algorithm section has the error information corresponding with the position of said reference reflecting part, above-mentioned optical detection part is according to inner with reference to error corresponding to the position of light time said reference reflecting part with detection, revise measurement result
The present invention is a kind of like this Distnace determination device still, and above-mentioned smooth emission part is provided with: the deflectiometry parts that range finding light is shone measuring the direction upper deflecting; The rotating part that keeps these deflectiometry parts and can make it to rotate; Be arranged to the benchmark reflecting prism that can rotate freely with one heart with the rotation center of this rotating part; And make this benchmark reflecting prism be independent of above-mentioned deflectiometry parts and the revolution drive division that rotates.
Description of drawings
Fig. 1 is the key diagram that summary represents the embodiment of the invention;
Fig. 2 is the sectional view of laser beam emission part of the Distnace determination device of the expression embodiment of the invention;
Fig. 3 is the sketch map of this Distnace determination device range finding section;
The light sensing state of Fig. 4 (A) expression photodetector;
Fig. 4 (B) is the enlarged drawing of light detecting signal;
Fig. 5 rotates the key diagram of rear error at the benchmark reflecting prism in the above-mentioned Distnace determination device of expression;
Fig. 6 should reflect the corresponding table data of error and rotation angle after the benchmark prism rotation;
Fig. 7 is the sketch map of traditional Distnace determination device.
Embodiment
Below, with reference to description of drawings most preferred embodiment of the present invention.At first, use the mensuration of Fig. 1 summary description embodiment of the invention.In Distnace determination device shown in Figure 1 17, can form level reference, and measure to the distance of determination object thing 16.
Above-mentioned Distnace determination device 17 has reference field forming portion (not shown) and range finding section 19 (aftermentioned).Above-mentioned Distnace determination device 17 forms with laser beam 21 reference field and turns round irradiation, and simultaneously revolution irradiation range finding light 22 is so that become possibility with the distance of light measurement to the said determination object 16 of a plurality of positions of finding range.
Said reference face forming portion revolution irradiation said reference face forms with laser beam 21, forms level reference 23.The said reference face forms and forms with a plurality of fan-shaped laser beam of laser beam 21 by at least 1 inclination.In addition, shine the laser aid of the fan-shaped laser beam more than 3 of an inclination as revolution, the rotary laser apparatus that has TOHKEMY 2004-212058 communique to propose.
Revolution irradiation said reference face forms with laser beam 21, the determination object thing has the photodetector (not shown), detect the mistiming of 2 above fan-shaped laser beam by obtaining this photodetector, according to the pitch angle of this mistiming and above-mentioned fan-shaped laser beam, obtain the elevation angle with respect to the above-mentioned level reference 23 centered by above-mentioned Distnace determination device 17.In addition, can set the Tilt Datum Plane face according to the elevation angle.
Fig. 2, Fig. 3 summary represent the Distnace determination device of the embodiment of the invention, and Fig. 2 represents the laser beam emission part 24 of above-mentioned Distnace determination device 17, and Fig. 3 represents the simple structure of the above-mentioned range finding section 19 of above-mentioned Distnace determination device 17.Above-mentioned laser beam emission part 24 is formed with light emission part 25 and range finding by reference field and consists of with light emission part 26, and the said reference face forms with light emission part 25 and above-mentioned range finding can shine respectively the formation of said reference face laser beam 21 and above-mentioned range finding light 22 independently with light emission part 26.In addition, in the present embodiment, the direction of illumination that the said reference face forms with laser beam 21 and above-mentioned range finding light 22 is identical, but also can be different, for example differs 180 °.
Among Fig. 2, the top plate portion of 27 expression Distnace determination devices, 17 frames, the reference field of packing in the inside of frame forms the (not shown) with LASER Light Source section.At the upside of above-mentioned top plate portion 27, configure projection window 28 cylindraceous, the optical axis that the material such as this projection window 28 usefulness clear glasses and said reference face form with light emission part 25 arranges with one heart.In the upper end of above-mentioned projection window 28 upper substrate 29 is set, in the inside of above-mentioned projection window 28 Intermediate substrate 31 is set.
The optical axis that forms with light emission part 25 with the said reference face configures garden tubular prism bracket 32 with one heart, and this prism bracket 32 is bearing in by bearing 33,34 on the above-mentioned Intermediate substrate 31 of above-mentioned top plate portion 27 and rotates freely.
Inside at above-mentioned prism bracket 32, as the deflectiometry parts pentaprism 42 is set, the 1st projection hole 43 is set at the chadless relative with the above-mentioned pentaprism of above-mentioned prism bracket 32, form the reference field formation of penetrating with LASER Light Source section from the said reference face and deflect in the horizontal direction on above-mentioned pentaprism 42 with laser beam 21, shine out by above-mentioned the 1st projection hole 43.
The 1st swing pinion 35 is set in the upper end of above-mentioned prism bracket 32, the 1st driven wheel 37 and 35 engagements of above-mentioned the 1st swing pinion installed on the output shaft of the 1st slewing motor 36, the 1 slewing motors 36 are housed on the above-mentioned Intermediate substrate 31.By driving above-mentioned the 1st slewing motor 36, above-mentioned the 1st driven wheel 37 makes above-mentioned pentaprism 42 rotations through above-mentioned the 1st swing pinion 35, and the said reference face forms and just rotates in surface level with laser beam 21.
In addition, the 1st scrambler 38 is housed on the above-mentioned Intermediate substrate 31, the 1st follower gear 39 of installing on the input shaft of the 1st scrambler 38 and 35 engagements of above-mentioned the 1st swing pinion, the rotation angle of the 1st swing pinion 35 is detected by above-mentioned the 1st scrambler 38 through above-mentioned the 1st follower gear 39, detects the said reference face and forms the direction of illumination of using laser beam 21.
At above-mentioned upper substrate 29 lens barrel 47 is set, the center of this lens barrel 47 is consistent with the center of above-mentioned mirror support 44, in addition, keeps condenser lens 48 in above-mentioned lens barrel 47.In above-mentioned lens barrel 47, through bearing 49 the rotation ring set 50 that can rotate freely is set, the 2nd swing pinion 51 is housed on this rotation ring set 50.
In above-mentioned upper substrate 29, arrange the 2nd driven wheel 53, the 2 driven wheels 53 and 51 engagements of above-mentioned the 2nd swing pinion are installed on the output shaft of the 2nd slewing motor 52, the 2 slewing motors 52.
In addition, fixation reflex prism retaining member 54 on above-mentioned rotation ring set 50 is at these reflecting prism retaining member 54 fixing benchmark reflecting prisms 55 of using as the inside light path of benchmark reflecting part.On inner light path, for example, at the reflecting surface of benchmark reflecting prism 55 amplitude optical filter 56 is set.This amplitude optical filter 56 changes concentration in the horizontal direction continuously, to reduce continuously or to increase continuously the transmission light quantity of laser.In addition, above-mentioned amplitude optical filter 56 also can change concentration by stages, in fact also can change gradually concentration on the rotation sweep direction.
Specifically, said reference reflecting prism 55 is made as corner cube, optical filter is attached on the corner cube, make near the transmissivity in center high, more lower to peripheral transmissivity.
The 2nd follower gear 57, the 2 follower gears 57 and 51 engagements of above-mentioned the 2nd swing pinion are housed on the input shaft of above-mentioned upper substrate 29 installations the 2nd scrambler 58, the 2 scramblers 58.
By driving above-mentioned the 2nd slewing motor 52, said reference reflecting prism 55 rotates with above-mentioned amplitude optical filter 56 via above-mentioned the 2nd driven wheel 53, above-mentioned the 2nd swing pinion 51, above-mentioned rotation ring set 50, in addition, the rotation angle of above-mentioned rotation ring set 50 is detected by above-mentioned the 2nd scrambler 58 via above-mentioned the 2nd swing pinion 51, above-mentioned the 2nd follower gear 57.
At the optical axis configuration deflection mirror 62 of above-mentioned condenser lens 48, and determine to penetrate the ejecting end position of using optical fiber 61, make it the reflecting surface facing to this deflection mirror 62.In addition, on the optical axis of above-mentioned condenser lens 48, determine on focal position with the incident end position of optical fiber 63 detecting light.
Above-mentioned ejaculation is guided the above-mentioned range finding light 22 that light-emitting component 1 penetrates into above-mentioned deflection mirror with optical fiber 61, above-mentioned detection light with optical fiber 63 will reflect the light 22 of finding range ', internal reference light 22 " guides photodetector 7 into.
Describe with regard to range finding section 19 referring now to Fig. 3.
In Fig. 3, with identical person shown in Fig. 7, be marked with identical mark.
At the ejaculation optical axis configuration condenser lens 59 of above-mentioned light-emitting component 1, use the incident end of optical fiber 61 in the above-mentioned ejaculation of focal position configuration of this condenser lens 59.This penetrates with optical fiber 61, as mentioned above, guides above-mentioned range finding light 22 into above-mentioned deflection mirror 62.
On the focal position of above-mentioned condenser lens 48, configure above-mentioned light and detect the incident end of using optical fiber 63, the ejecting end that this light detects with optical fiber 63 is configured on the optical axis of condenser lens 64, from above-mentioned light detect with optical fiber 63 penetrate above-mentioned reflection range finding light 22 ', above-mentioned internal reference light 22 " focuses on the above-mentioned photodetector 7 by above-mentioned condenser lens 64.
Light emission drive circuit 12 is luminous according to the driving of controlling above-mentioned light-emitting component 1 from the control signal of control algorithm section 15, and above-mentioned control algorithm section 15 is sent in the required processing such as 13 pairs of light detecting signals from above-mentioned photodetector 7 of optical detection circuit amplify, A/D conversion, the signal after the processing.
This control algorithm section 15 is provided with storage part 65, in this storage part 65, deposit range finding operation program and the sequence control program supervisor in order to measure of the computing of following range determination in, in addition, above-mentioned storage part 65 also store in time light quantity from the light detecting signal of above-mentioned photodetector 7 change and measure in data etc.
Above-mentioned control algorithm section 15 is according to the said sequence control program, send control signal to the 1st motor control part 66 of above-mentioned the 1st slewing motor 36 usefulness, the 2nd motor control part 67 of above-mentioned the 2nd slewing motor 52 usefulness, above-mentioned the 1st motor control part 66 is controlled the rotation of above-mentioned the 1st slewing motor 36 and is stopped, and above-mentioned the 2nd motor control part 67 is controlled the rotation of above-mentioned the 2nd slewing motor 52 and stopped.
Above-mentioned the 1st scrambler 38 detects the rotation angle of above-mentioned mirror support 44, is sent to above-mentioned control algorithm section 15, and in addition, above-mentioned the 2nd scrambler 58 detects the rotation angle of said reference reflecting prisms 55, is sent to above-mentioned control algorithm section 15.
Below just measure action and describe.
Above-mentioned light-emitting component 1 carries out intensity modulated and luminous by above-mentioned light emission drive circuit 12 with certain frequency, penetrates the laser beam of range finding usefulness.Laser beam from above-mentioned light-emitting component 1 focuses on the incident end that optical fiber 61 is used in above-mentioned ejaculation by above-mentioned condenser lens 59.Guide this ejaculation laser beam of optical fiber 61 into, penetrate as above-mentioned range finding light 22 from ejecting end, this range finding light 22 is reflexed on the optical axis of above-mentioned condenser lens 48 by above-mentioned deflection mirror 62, and then in these condenser lens 48 focusing, incide above-mentioned reflective mirror 45, by these reflective mirror 45 deflections, shine in the horizontal direction with the above-mentioned projection window 28 desired angles of divergence.
Under the state that above-mentioned range finding light 22 penetrates and the formation of said reference face is penetrated with laser beam 21, above-mentioned the 1st slewing motor 36 is driven, make above-mentioned pentaprism 42,45 rotations of above-mentioned reflective mirror through above-mentioned the 1st driven wheel 37, above-mentioned the 1st swing pinion 35, see through above-mentioned projection window 28 revolution irradiation said reference faces and form with laser beam 21, above-mentioned range finding light 22, perhaps form the mensuration zone that exists with laser beam 21 and above-mentioned range finding light 22 rotation sweep determination object things with above-mentioned reference field at least.
Also have, at the state that carries out range determination, namely shine under the state of above-mentioned range finding light 22, make 55 rotations of said reference reflecting prism with above-mentioned the 2nd slewing motor 52, this benchmark reflecting prism 55 is become be in namely the find range state of direction of the direction that departs from the determination object thing, in addition, above-mentioned the 2nd slewing motor 52 is stopped, and said reference reflecting prism 55 is remained on the precalculated position that does not affect mensuration.
Also have, a plurality of determination object things are being arranged, said reference reflecting prism 55 is held in a predetermined position and will hinders when measuring, and also can cooperate the rotation of above-mentioned reflective mirror 45 and makes 55 rotations of said reference reflecting prism, is in overlapping state with the position of avoiding measuring direction and this benchmark reflecting prism 55.In other words, because the direction at said determination object place can detect by above-mentioned the 1st scrambler 38, be rotated in advance scanning and obtain the position of determination object thing, can according to the testing result from above-mentioned the 2nd scrambler 58, said reference reflecting prism 55 be moved to deviate from the position of measuring direction.
The above-mentioned range finding light 22 of revolution irradiation, this range finding light 22 are by the determination object thing, thus the 22 determined object reflections of above-mentioned range finding light.The reflection range finding light 22 ' that the determination object thing reflects incides above-mentioned reflective mirror 45, by these reflective mirror 45 reflections, and by above-mentioned condenser lens 48 focusing, incides above-mentioned light from incident end face and detects with optical fiber 63.Detect the above-mentioned reflection of penetrating with optical fiber 63 from this light and find range light 22 ' after above-mentioned condenser lens 64 focuses on, detected by above-mentioned photodetector 7.After amplification, A/D conversion etc., be sent to above-mentioned control algorithm section 15, through depositing above-mentioned storage part 65 in after this control algorithm section 15 from the light detecting signal of this photodetector 7.
In addition, by the above-mentioned range finding light 22 of revolution irradiation, this range finding light 22 is also by said reference reflecting prism 55, in the process of passing through, reflected by benchmark reflecting prism 55, the laser beam that is reflected is again by above-mentioned reflective mirror 45 reflections, detect with optical fiber 63, as internal reference light 22 through above-mentioned condenser lens 48, above-mentioned light and " detected by above-mentioned photodetector 7.
At this moment, detect the light path that arrives above-mentioned photodetector 7 with optical fiber 63 via above-mentioned ejaculation with optical fiber 61, above-mentioned reflective mirror 45, said reference reflecting prism 55, above-mentioned reflective mirror 45, above-mentioned light and form the internal reference light path.In addition, the length of this internal reference light path is design load or the value known by actual measurement.
Light detecting signal from above-mentioned photodetector 7 is transfused to above-mentioned optical detection circuit 13,13 pairs of this optical detection circuits are about above-mentioned reflection range finding light 22 ', above-mentioned internal reference light 22 " light detecting signal amplify, the desired processing such as A/D conversion; the signal after the processing is sent to above-mentioned control algorithm section 15, deposits above-mentioned storage part 65 in through after the processing of this control algorithm section 15.Above-mentioned control algorithm section 15, with the range finding operation program that deposits above-mentioned storage part 65 in, light detecting signal according to these storage part 65 storages, calculate above-mentioned reflection range finding light 22 ' and above-mentioned internal reference light 22 " phase differential, and calculate the distance that arrives the determination object thing according to the phase differential of calculating and the light velocity.
Then, with reference to Fig. 4 (A), 4 (B) above-mentioned reflection range finding light 22 ' and above-mentioned internal reference light 22 are described ".
As mentioned above, the above-mentioned range finding light 22 of in the present invention revolution irradiation, or the shuttle-scanning preset range carries out range determination.For example, occasion at the above-mentioned range finding light 22 of revolution irradiation, when only having a determination object thing, by being revolved, above-mentioned reflective mirror 45 turns around, namely above-mentioned range finding light 22 is revolved and turn around, above-mentioned photodetector 7 detects one from above-mentioned reflection range finding light 22 ' and an above-mentioned internal reference light 22 of determination object thing ".
As mentioned above, at the reflecting surface of said reference reflecting prism 55 above-mentioned amplitude optical filter 56 is set, above-mentioned range finding light 22 passes through in the process of said reference reflecting prism 55 in the horizontal direction, and above-mentioned range finding light 22 passes through above-mentioned amplitude optical filter 56 equally.This amplitude optical filter 56 in the horizontal direction concentration gradually changes, and sees through the above-mentioned internal reference light 22 of this amplitude optical filter 56 " light quantity gradually change.In addition, set this internal reference light 22 " the light quantity variable quantity; so that it equates with changing from the light quantity of the reflection range finding light 22 ' that is in in-plant determination object thing with from the light quantity between the reflection range finding light 22 ' that is in remote determination object thing, or have size more than this amount.Specifically, can be with above-mentioned internal reference light 22 " the light quantity variable quantity be made as maximum in the dynamic range of optical detection part, perhaps also can be set as and be in the dynamic range.
Fig. 4 (A), the light detecting signal of the above-mentioned photodetector 7 of Fig. 4 (B) expression, among the figure, 71 expressions detect above-mentioned internal reference light 22, and " and the reference signal that obtains, 72 expressions detect above-mentioned reflection range finding light 22 ' and distance measuring signal (external signal) of obtaining.
Above-mentioned reference signal 71 is divided into the intensity level of wanting.For example, shown in Fig. 4 (B), this reference signal 71 is divided into 5 intensity level L1, L2, L3, L4 and L5, in addition, is divided into 5 districts such as the Z1 corresponding with intensity level L1, L2, L3, L4 and L5, Z2, Z3, Z4 and Z5.
In above-mentioned reference signal 71, extract and be generated as have the light quantity consistent with intensity level 1 the part light detecting signal as internal reference light Ref1, has the part light detecting signal of the light quantity consistent with intensity level 2 as internal reference light Ref2, has the part light detecting signal of the light quantity consistent with intensity level 3 as internal reference light Ref3, has the part light detecting signal of the light quantity consistent with intensity level 4 as internal reference light Ref4, have the part light detecting signal of the light quantity consistent with intensity level 1 as internal reference light Ref5, and deposit above-mentioned storage part 65 in.
The light detecting signal that above-mentioned control algorithm section 15 sends here according to above-mentioned photodetector 7 calculate above-mentioned reflection range finding light 22 ' the detection light quantity, and from a plurality of (being 5 among Fig. 4) the internal reference light Ref that deposits above-mentioned storage part 65 in, select and above-mentioned reflection internal reference light Ref corresponding to the light quantity of light 22 ' have that find range.
For example, above-mentioned reflection range finding light 22 ' the detection light quantity large at specific strength level L1, during the little regional Z2 of specific strength level L2, as internal reference light Ref, select the light detecting signal of internal reference light Ref2, according to light detecting signal and the above-mentioned distance measuring signal 72 of this internal reference light Ref2, calculate phase differential, and then calculate distance according to phase differential and the light velocity.
Because the light detecting signal of internal reference light Ref2 is consistent or roughly consistent with the detection light quantity of above-mentioned distance measuring signal 72, can be owing to detection light quantity different the produce error at measurments of reference light with range finding light.
In addition, have the selection with the internal reference light Ref of the light quantity of above-mentioned reflection range finding light 22 ' corresponding, undertaken by the signal processing to the data that are recorded in above-mentioned storage part 65.Thereby owing to not following the mechanical action of the light path switching of internal reference light and range finding light, the light quantity adjustment of concentration optical filter etc., range determination can be carried out on hypervelocity ground.
Thereby, can satisfy the at a high speed requirements of mensuration such as range determination of carrying out with the range finding light that turns round irradiation.In addition, according to the angle signal from above-mentioned the 1st scrambler 38, obtain range data and angle-data in determination object thing side, form with reference field again and obtain the elevation angle with laser beam, just can detect the position.
As mentioned above, in the present invention, above-mentioned internal reference light 22 " obtain by said reference reflecting prism 55 reflections by rotation.Therefore, on the rotating mechanism of supporting said reference reflecting prism 55, comprise sometimes the error that the reasons such as element precision, assembly precision cause.
The position of rotation that Fig. 5 schematically illustrates because of said reference reflecting prism 55 changes the error that causes.
Among the figure, 73 are illustrated in the supposition rotating mechanism does not cause in the situation of error, the reference trajectory of these benchmark reflecting prism 55 reflectings surface during 55 rotation of said reference reflecting prism, and reference trajectory is assumed to proper circle.In addition, among the figure, 74 expression rotating mechanisms have the track of the reflecting surface of said reference reflecting prism 55 in the situation of error.Difference between said reference track 73 and the above-mentioned track 74 is error R.In addition, above-mentioned track 74 is expressed as ellipse for simplicity.
Above-mentioned error R shows as the error of internal reference optical path length, becomes error at measurment, therefore, in the occasion of implementing high-precision measuring, revises measurement result according to error R.
In addition, the track of above-mentioned track 74 is needed means, for example, obtains by actual measurement and to obtain the data corresponding with the error R of the reflecting surface of the position of rotation 9 of said reference reflecting prism 55 and this benchmark reflecting prism 55.Above-mentioned position of rotation θ measures by above-mentioned the 2nd scrambler 58, for example measures per step error of 15 °, makes tables of data shown in Figure 6, and with this data table stores in above-mentioned storage part 65.
Thereby, the position of rotation of the said reference reflecting prism 55 when obtaining above-mentioned reference signal 71 (referring to Fig. 4) according to the angle signal detection of above-mentioned the 2nd scrambler 58, obtain the error R corresponding with the angle that detects by above-mentioned tables of data, revise the mensuration distance of calculating according to above-mentioned error R.In addition, obtained error R, for example, suppose 0 °～15 ° for R1,15 °～30 ° for R2 etc., also can obtain error R by the region decision position of rotation.In addition, for example, for the position of rotation error R between 0 °～15 °, also can pro rata distribute R1 and R2 to obtain error R.
In addition, in the above-described embodiments, can fix the direction of illumination of above-mentioned range finding light 22, drive above-mentioned the 2nd slewing motor 52, rotate said reference reflecting prism 55, make it transversal above-mentioned range finding light 22.
In addition, when only having 1 determination object thing, also can save the function of the above-mentioned range finding light 22 of revolution irradiation, only allow said reference reflecting prism 55 rotate, this reflecting prism 55 is slided and transversal above-mentioned range finding light 22.In addition, the range determination mode both can be the phase differential mode, also can be the mistiming mode.
The possibility of utilizing on the industry
According to the present invention, owing to being provided with: the light emission part makes range finding irradiation determination object thing; The benchmark reflecting part arranges to such an extent that can relatively move with the transversal range finding light that is shone and is in known location; Optical detection part will from the reflected light of said determination object as reflection range finding light, will detect as internal reference light from the reflected light of said reference reflecting part; And control algorithm section, calculate the distance of determination object thing according to the light detecting signal that relates to above-mentioned reflection range finding light with the light detecting signal that relates to above-mentioned internal reference light, the mechanical light path of light and above-mentioned internal reference light is not switched so find range, and therefore, can carry out high speed ranging.
In addition, according to the present invention, because on the light path that the said reference reflecting part is set, the light quantity adjustment component that setting changes the light quantity of above-mentioned internal reference light, can obtain and the corresponding above-mentioned internal reference light of light quantity that reflects range finding light, therefore, can improve the mensuration reliability.
In addition, according to the present invention, because above-mentioned range finding photoscanning comprises the mensuration zone of determination object thing at least, the said reference reflecting part is positioned at sweep limit, and be configured on the catoptrical position of not interfering from the determination object thing, therefore, can in the process of scanning range finding light, find range the high speed that is expected to measure.
In addition, according to the present invention, above-mentioned control algorithm section can be according to the light detecting signal that detects light quantity and change, generate a plurality of internal reference benchmark corresponding with a plurality of detection light quantity intensity, selection is corresponding to the internal reference benchmark of reflection range finding light light quantity, light detecting signal according to selected internal reference benchmark and above-mentioned reflection range finding light calculates the distance that arrives the determination object thing, therefore the high speed that is expected to measure makes the distance that measures in real time the determination object thing in range finding photoscanning process become possibility.
In addition, if employing the present invention, because the said reference reflecting part is supported by the section of travel mechanism of the said reference reflecting part that can move with respect to above-mentioned range finding light, this section of travel mechanism remains on the said reference reflecting part and deviates from movement on the position of measuring direction, therefore the existence of said reference reflecting part can not hinder the mensuration operation.
In addition, if employing the present invention, because section of above-mentioned travel mechanism has the position detecting device that detects said reference reflecting part position, above-mentioned control algorithm section has the error information corresponding to the position of said reference reflecting part, above-mentioned optical detection part can be according to the error correction measurement result corresponding with the position of detecting internal reference light time said reference reflecting part, therefore high-precision mensuration becomes possibility.
Claims (10)
1. Distnace determination device is provided with: the light emission part, at whole circumference rotary irradiation range finding light or shuttle-scanning preset range; The benchmark reflecting part is in known location, is arranged to simultaneously and to be arranged to by this range finding light transversal with the rotation center Concentric rotation of the range finding light of institute rotary irradiation; Optical detection part will also will detect as internal reference light from the reflected light of described benchmark reflecting part as reflection range finding light from the reflected light of measuring object; And control algorithm section, calculate the distance of determination object thing according to the light detecting signal that relates to described reflection range finding light and the light detecting signal that relates to described internal reference light,
At the state that described range finding light rotary irradiation carries out range observation, described benchmark reflecting part rotates to the position of departing from from the range finding direction.
2. Distnace determination device claimed in claim 1 is characterized in that, on the light path that is provided with described benchmark reflecting part, the light quantity adjustment component of the light quantity change that makes described internal reference light is set.
3. Distnace determination device claimed in claim 2 is characterized in that, described light quantity adjustment component is the optical filter that concentration gradually changes on the direction that range finding light passes through.
4. claim 2 or 3 described Distnace determination devices is characterized in that, described light quantity adjustment component and described benchmark reflecting part arrange integratedly.
5. Distnace determination device claimed in claim 1 is characterized in that, described range finding light scans the mensuration zone that comprises the determination object thing at least, and described benchmark reflecting part is configured in and is positioned at sweep limit and does not interfere again on the catoptrical position from the determination object thing.
6. Distnace determination device claimed in claim 2, it is characterized in that, described control algorithm section is according to the light detecting signal that detects light quantity and change, generate a plurality of internal reference benchmark corresponding with a plurality of detection light quantity grades, and select the internal reference benchmark corresponding with the light quantity of reflection range finding light, be calculated to the distance of determination object thing according to the light detecting signal of selected internal reference benchmark and described reflection range finding light.
7. Distnace determination device claimed in claim 3 is characterized in that, the variation of detection light quantity is passed through optical filter by range finding light and obtained.
8. Distnace determination device claimed in claim 1, it is characterized in that, described benchmark reflecting part is by making described benchmark reflecting part support the section of travel mechanism that described range finding light relatively moves, and this section of travel mechanism keeps described benchmark reflecting part mobile in the position that deviates from the mensuration direction.
9. Distnace determination device claimed in claim 8, it is characterized in that, section of described travel mechanism is provided with the position detecting device that detects described benchmark reflecting part position, described control algorithm section has the error information corresponding with the position of described benchmark reflecting part, and error corresponding to the position with described benchmark reflecting part that detects the internal reference light time according to described optical detection part revised measurement result.
10. Distnace determination device claimed in claim 1 is characterized in that, described smooth emission part is provided with: the deflectiometry parts make range finding light deflection and shine the mensuration direction; Rotating part keeps and rotates this deflectiometry parts; The benchmark reflecting prism is arranged to and can be rotated freely with one heart with the rotation center of this rotating part; And the revolution drive division, be independent of described deflectiometry parts ground and rotate this benchmark reflecting prism.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005165185A JP4819403B2 (en) | 2005-06-06 | 2005-06-06 | Distance measuring device |
| JP165185/2005 | 2005-06-06 | ||
| PCT/JP2006/309772 WO2006132060A1 (en) | 2005-06-06 | 2006-05-10 | Distance measuring device |
Publications (2)
| Publication Number | Publication Date |
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| CN101189532A CN101189532A (en) | 2008-05-28 |
| CN101189532B true CN101189532B (en) | 2013-03-27 |
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| CN200680019988XA Expired - Fee Related CN101189532B (en) | 2005-06-06 | 2006-05-10 | Distance measuring device |
Country Status (5)
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| US (1) | US7474388B2 (en) |
| EP (1) | EP1914565A4 (en) |
| JP (1) | JP4819403B2 (en) |
| CN (1) | CN101189532B (en) |
| WO (1) | WO2006132060A1 (en) |
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Also Published As
| Publication number | Publication date |
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| EP1914565A1 (en) | 2008-04-23 |
| JP4819403B2 (en) | 2011-11-24 |
| CN101189532A (en) | 2008-05-28 |
| US20070263202A1 (en) | 2007-11-15 |
| WO2006132060A1 (en) | 2006-12-14 |
| EP1914565A4 (en) | 2013-01-09 |
| JP2006337302A (en) | 2006-12-14 |
| EP1914565A9 (en) | 2012-02-15 |
| US7474388B2 (en) | 2009-01-06 |
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